多无人机协同实现海面机器人精准实时定位
Stable Multi-Drone GNSS Tracking System for Marine Robots
- 用视觉检测+轻量跟踪+GNSS三角测量融合定位
- 通过加权卡尔曼滤波实现稳定实时估计
- 支持多机协同视角一致，适合复杂海况
海洋机器人精确定位至关重要，但全球导航卫星系统（GNSS）信号在水下立即消失。传统方法存在误差累积、计算量大或依赖基础设施等问题。本文提出一种基于多无人机的GNSS追踪系统，用于水面及近水面海洋机器人。方法结合高效视觉检测、轻量级多目标跟踪、基于GNSS的三角测量，以及置信度加权的扩展卡尔曼滤波（EKF），实现实时稳定的GNSS估计。进一步引入跨无人机追踪ID对齐算法，确保多视角全局一致性，支持具备协作空域覆盖的鲁棒多机器人追踪。我们在多样化复杂场景中验证了系统的准确性与鲁棒性。
原文摘要 · Abstract (English)
Stable and accurate tracking is essential for marine robotics, yet Global Navigation Satellite System (GNSS) signals vanish immediately below the sea surface. Traditional alternatives suffer from error accumulation, high computational demands, or infrastructure dependence. In this work, we present a multi-drone GNSS-based tracking system for surface and near-surface marine robots. Our approach combines efficient visual detection, lightweight multi-object tracking, GNSS-based triangulation, and a confidence-weighted Extended Kalman Filter (EKF) to provide stable GNSS estimation in real time. We further introduce a cross-drone tracking ID alignment algorithm that enforces global consistency across views, enabling robust multi-robot tracking with cooperative aerial coverage. We validate our system in diversified complex settings to show the accuracy and robustness of the proposed algorithm.
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